A ground-shaking-preventing wheel type narrow lane AGV chassis

Abstract

The utility model discloses a kind of off-road anti-sway wheel type narrow lane AGV chassis, including chassis main body, travelling mechanism, two groups of directional wheels and two groups of universal wheel components. Travelling mechanism and two groups of directional wheels are installed in the bottom of chassis main body, constitute three-point support structure, guarantee the static stability of chassis;Universal wheel component is symmetrically provided on the both sides of travelling mechanism central axis, the universal wheel surface thereof and support plane are reserved adjustable vertical clearance, when vehicle body tilts, universal wheel component contacts support plane and forms auxiliary support, effectively inhibits tilting.The utility model solves the problem of high risk of narrow lane AGV tilting and poor adaptability through collaborative design, and is suitable for workshop narrow lane, shelf narrow gap and other scenes.

Description

Technical Field

[0001] This utility model relates to the field of AGV chassis, specifically to a ground-lift anti-sway wheel type narrow-lane AGV chassis. Background Technology

[0002] Traditional AGV (Automated Guided Vehicle) chassis generally employ a four-wheel or six-wheel rigid support structure. To improve road adaptability, spring or hydraulic damping mechanisms are typically required, which not only increases component costs but also leads to decreased parking accuracy due to insufficient suspension system rigidity. This type of structure relies on an electronic active anti-roll system to compensate for tilting during cargo lifting, but it has a fatal flaw: First, there is a delay in mechanical response, meaning that the shaking of goods cannot be suppressed in time when the ground is uneven or the turning is too abrupt. Secondly, since the steering wheel's contact surface with the ground is fixed, it is prone to slippage when encountering uneven road surfaces, leading to AGV path deviation or even loss of control. In addition, multi-wheel group coordinated control requires complex sensor networks and algorithm support, significantly increasing the failure rate.

[0003] The aforementioned problems are further amplified in narrow-aisle warehouse scenarios. Traditional chassis, due to their excessive length, cannot steer flexibly, while additional stabilization mechanisms further increase space requirements. Therefore, there is an urgent need for a chassis solution that simplifies the structure, dynamically adapts to road surface fluctuations, and passively triggers anti-rollover mechanisms. Utility Model Content

[0004] To address the aforementioned issues, this invention proposes a ground-lift anti-sway wheel type narrow-lane AGV chassis. It aims to replace the traditional shock-absorbing suspension and electronic anti-sway system with a mechanical passive anti-tilt structure. Through the coordinated design of a three-point support main body, ground-lift trigger stabilizing wheel, and floating connection mechanism, it simultaneously resolves the three major contradictions of structural complexity, dynamic response delay, and narrow-lane space occupation.

[0005] This utility model achieves the above objectives through the following technical solutions: A ground-lift anti-sway wheel type narrow-lane AGV chassis includes a chassis body, a walking mechanism, two sets of directional wheels and two sets of universal wheel assemblies; The walking mechanism and the two sets of directional wheels are both installed at the bottom of the chassis body, and the walking mechanism and the two sets of directional wheels form a three-point support structure; The universal wheel assemblies are symmetrically arranged on both sides of the central axis of the walking mechanism. The universal wheel assemblies are installed at the bottom of the chassis body, and a vertical gap is reserved between the wheel surface and the supporting plane. When the vehicle body tilts, the universal wheel assembly contacts the supporting plane to form auxiliary support.

[0006] Compared to existing technologies, the advantages of this invention are as follows: the three-point support structure formed by the walking mechanism and the two sets of directional wheels ensures that the AGV chassis can be stably placed on the support plane, providing static stability for the AGV's operation. When the AGV travels in a narrow environment and the vehicle body tilts, the omnidirectional wheel assembly, which originally had a vertical gap with the support plane, will contact the support plane and form a stable quadrilateral support structure with the three-point support structure, effectively suppressing the tilt of the vehicle body and ensuring the safety of the AGV and its cargo.

[0007] The vertical clearance of the aforementioned AGV chassis refers to the minimum vertical distance between the lowest point of the wheel surface of the omnidirectional wheel assembly and the supporting plane when the AGV chassis is on a horizontal supporting plane, without tilting or additional load.

[0008] The vertical clearance of the AGV chassis described above is 3-10mm.

[0009] In the aforementioned AGV chassis, the two sets of directional wheels are installed at the bottom of the fork-shaped bracket at the front end of the chassis body through the first floating connection mechanism, forming the two front support points of the three-point support structure, and the walking mechanism forms the rear support point of the three-point support structure.

[0010] The aforementioned AGV chassis, wherein the first floating connection mechanism includes a first elastic element, a first bearing seat and a first bearing, the first bearing seat is fixed to the bottom of the fork-shaped bracket at the front end of the chassis body, the first bearing is disposed in the first bearing seat, and the first elastic element provides axial buffering force for the directional wheel.

[0011] The aforementioned AGV chassis includes two parallel wheels in each set of directional wheels. The two wheels in each set of directional wheels are connected by a common axle or fixed to the bottom of the fork-shaped bracket at the front end of the chassis body by independent axles.

[0012] The aforementioned AGV chassis includes a walking mechanism comprising a drive motor, a steering motor, and a steering wheel. The drive motor is coaxially connected to the steering wheel, and the steering motor is connected to the steering wheel via a steering transmission mechanism, driving the steering wheel to rotate around a vertical axis.

[0013] In the aforementioned AGV chassis, the universal wheel assembly is mounted on the bottom of the chassis body via a second floating connection mechanism. The second floating connection mechanism includes a second elastic element, a second bearing seat, and a second bearing. The second elastic element restricts the horizontal displacement of the universal wheel assembly and allows it to float vertically.

[0014] The aforementioned AGV chassis has a mounting hole with internal threads at the bottom of the chassis body. The universal wheel assembly includes a screw and a universal wheel fixed to the bottom end of the screw. The external thread of the screw meshes with the internal thread of the mounting hole. The mounting height of the universal wheel can be changed by rotating the screw. Alternatively, the universal wheel assembly includes a lifting seat, a support seat, a bevel gear set, and a rotating rod. A threaded rod is provided through the top of the lifting seat, and the top end of the threaded rod meshes with the vertical output end of the bevel gear set. The horizontal input shaft of the bevel gear set extends to the outside of the lifting seat to form a rotating rod. The rotating rod drives the threaded rod to rotate, thereby causing the support seat and the universal wheel at the bottom of the support seat to move vertically.

[0015] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0016] Figure 1 This is a bottom view of the overall structure of the AGV chassis of this utility model.

[0017] Figure 2 This is a schematic diagram of the walking mechanism of this utility model.

[0018] Figure 3 This is a schematic diagram of the application structure of the AGV chassis of this utility model in AGV forklifts.

[0019] Explanation of reference numerals: 100 Chassis main body; 200 Fixed wheels; 300 Universal wheel assembly; 400 Walking mechanism; 401 Drive motor; 402 Steering motor; 403 Steering wheel; Detailed Implementation The present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention.

[0020] like Figure 1 As shown, the ground-lift anti-sway wheel type narrow-path AGV chassis of this embodiment includes a chassis body 100, a walking mechanism 400, two sets of directional wheels 200 and two sets of universal wheel assemblies 300. Each component is symmetrically distributed along the length of the chassis body 100, and the overall structure is compact and suitable for narrow-path operation space.

[0021] Specifically, the chassis body 100 is made of high-strength aluminum alloy profiles, which ensures structural rigidity while reducing overall weight. Multiple mounting holes are pre-drilled at its bottom for fixing the walking mechanism 400, the directional wheels 200, and the omnidirectional wheel assembly 300. The walking mechanism 400 is installed in the middle of the chassis body 100, and two sets of directional wheels 200 are symmetrically installed at the bottom of the fork-shaped bracket at the front end of the chassis body 100. The lines connecting the support points of the walking mechanism 400 and the two sets of directional wheels 200 form an isosceles triangle, creating a stable three-point support structure that provides a static load-bearing foundation for the chassis.

[0022] like Figure 2 As shown, the traveling mechanism 400 includes a drive motor 401, a steering motor 402, and a steering wheel 403. The drive motor 401 is fixed to a motor mounting bracket at the bottom of the chassis body 100 by bolts, and its output shaft is directly coaxially connected to the steering wheel 403 to provide power for the AGV to travel.

[0023] Furthermore, the steering motor 402 is also fixed to the motor mounting bracket at the bottom of the chassis body 100 by bolts. The output shaft of the steering motor 402 is connected to the steering wheel 403 through the steering transmission mechanism. The steering transmission mechanism adopts gear transmission. When the steering motor 402 rotates, it drives the steering wheel 403 to rotate around the vertical axis through gear meshing, thereby realizing the steering function of the AGV.

[0024] Each set of directional wheels 200 includes two parallel wheels, and different materials can be selected according to the needs of the application scenario: For example, to balance wear resistance and cushioning performance, polyurethane material can be used, which has moderate elasticity, can reduce vibration and noise during driving, and is suitable for conventional narrow road surfaces, such as cement and tile surfaces. If the focus is on lightweight and cost control, nylon material can be selected. It is lightweight and has a stable coefficient of friction, making it suitable for narrow passage handling scenarios with no load or light load. When heavy load requirements need to be met, cast iron material can be used. The wheel body has high strength and good impact resistance. With surface hardening treatment, wear resistance can be improved, making it suitable for heavy-duty material transportation in workshops. For low-temperature environments, such as narrow passages in cold storage, nitrile rubber can be selected because it has excellent low-temperature toughness and is not easily affected by low-temperature hardening, thus maintaining its cushioning effect.

[0025] In one embodiment, the two wheels of each set of directional wheels 200 are connected by a common axle. The two ends of the axle are mounted on the bottom of the fork-shaped bracket at the front end of the chassis body 100 via a first floating connection mechanism. The first floating connection mechanism includes a first bearing housing, a first bearing, and a first elastic element. The first bearing housing is fixed to the bottom of the fork-shaped bracket at the front end of the chassis body 100 by bolts. The first bearing is a rolling bearing and is disposed within the bearing housing. The axle passes through the rolling bearing. The first elastic element is a spring, sleeved on the axle and located between the first bearing housing and the directional wheel 200, providing axial buffering force.

[0026] In another embodiment, the two wheels of each set of directional wheels 200 are respectively fixed to the bottom of the fork-shaped bracket at the front end of the chassis body 100 through independent wheel axles. Each independent wheel axle is connected to the fork-shaped bracket through the first floating connection mechanism mentioned above, so as to realize the flexible rotation and buffering of the wheels.

[0027] Two sets of caster wheel assemblies 300 are symmetrically installed on the bottom of the chassis body 100 on both sides of the central axis of the walking mechanism through a second floating connection mechanism. The second floating connection mechanism includes a second elastic element, a second bearing seat, and a second bearing. The second bearing seat is fixed to the bottom of the chassis body 100. The second bearing is a self-lubricating spherical bearing and is disposed in the second bearing seat. The connecting shaft of the caster wheel assembly 300 passes through the second bearing. The second elastic element is a rubber pad and is disposed between the second bearing seat and the support seat of the caster wheel assembly. The rubber pad restricts the horizontal displacement of the caster wheel assembly and allows it to float vertically.

[0028] Furthermore, a vertical gap of 3-10mm is reserved between the caster wheel surface of the caster wheel assembly 300 and the supporting plane (such as the ground).

[0029] Furthermore, vertical clearance refers to the minimum vertical distance between the lowest point of the wheel surface of the omnidirectional wheel assembly 300 and the support plane when the AGV chassis is on a horizontal support plane, without tilting or additional load.

[0030] To adjust the vertical clearance, the chassis body 100 has a mounting hole with internal threads at the bottom. In one embodiment, the caster wheel assembly 300 includes a screw and a caster wheel fixed to the bottom of the screw. The external thread of the screw engages with the internal thread of the mounting hole. By rotating the screw, the mounting height of the caster wheel is changed, thereby adjusting the vertical clearance.

[0031] In another embodiment, the caster wheel assembly 300 includes a lifting seat, a support seat, a bevel gear set, and a rotating rod. The lifting seat is bolted to the bottom of the chassis body 100. A threaded rod is provided through the top of the lifting seat, and the top end of the threaded rod meshes with the vertical output end of the bevel gear set. The horizontal input shaft of the bevel gear set extends to the outside of the lifting seat to form a rotating rod. The support seat is connected to the bottom end of the threaded rod, and the caster wheel is mounted on the bottom of the support seat. When the rotating rod is rotated, the horizontal input shaft drives the bevel gear set to rotate, and the vertical output end of the bevel gear set drives the threaded rod to rotate, thereby causing the support seat to move vertically, realizing the adjustment of the caster wheel height.

[0032] When the AGV is traveling normally in a narrow passage, the three-point support structure formed by the walking mechanism 400 and the two sets of directional wheels 200 ensures the static stability of the chassis. The universal wheel assembly 300 does not contact the support plane because it has a vertical gap with the support plane, and does not affect the normal travel of the AGV.

[0033] When the AGV turns in a narrow passage or encounters uneven ground, causing the vehicle to tilt to one side, the omnidirectional wheel assembly 300 on one side, which originally had a vertical gap with the support plane, will contact the support plane to form an auxiliary support. Together with the three-point support structure, it forms a stable quadrilateral support structure, which effectively suppresses the tilt of the vehicle and ensures the safety of the AGV and the goods it carries. During operation, when there are slight undulations in the ground, the floating connection mechanism of the directional wheel 200 and the omnidirectional wheel assembly 300 comes into play. The elastic element provides cushioning, and the bearing allows the components to make a certain relative movement, so that the wheels can better adapt to the ground conditions, reduce vibration and noise, and improve the stability of the AGV's operation.

[0034] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. A ground-lift anti-sway wheel type narrow-lane AGV chassis, comprising a chassis body (100), a walking mechanism (400), two sets of directional wheels (200) and two sets of universal wheel assemblies (300), characterized in that: The walking mechanism (400) and the two sets of directional wheels (200) are both installed at the bottom of the chassis body (100), and the walking mechanism (400) and the two sets of directional wheels (200) form a three-point support structure; The universal wheel assembly (300) is symmetrically arranged on both sides of the central axis of the walking mechanism (400). The universal wheel assembly (300) is installed at the bottom of the chassis body (100). A vertical gap is reserved between the wheel surface of the universal wheel and the support plane. When the vehicle body tilts, the universal wheel assembly (300) contacts the support plane to form auxiliary support.

2. The chassis according to claim 1, characterized in that: The vertical clearance refers to the minimum vertical distance between the lowest point of the omnidirectional wheel surface of the omnidirectional wheel assembly (300) and the supporting plane when the AGV chassis is on a horizontal plane, without tilting or additional load.

3. The chassis according to claim 1 or 2, characterized in that: The vertical gap between the wheel surface of the universal wheel assembly (300) and the supporting plane is 3-10mm.

4. The chassis according to claim 1, characterized in that: The two sets of directional wheels (200) are installed at the bottom of the fork-shaped bracket at the front end of the chassis body (100) through the first floating connection mechanism, forming the two front end supports of the three-point support structure, and the walking mechanism (400) forms the rear end support of the three-point support structure.

5. The chassis according to claim 4, characterized in that: The first floating connection mechanism includes a first elastic element, a first bearing seat and a first bearing. The first bearing seat is fixed to the bottom of the fork-shaped bracket at the front end of the chassis body (100). The first bearing is disposed in the first bearing seat. The first elastic element provides axial buffer force for the directional wheel (200).

6. The chassis according to claim 4, characterized in that: The directional wheel (200) includes two parallel wheels. The two wheels of each set of directional wheels (200) are connected by a common axle, or are fixed to the bottom of the fork-shaped bracket at the front end of the chassis body (100) by independent axles.

7. The chassis according to claim 1, characterized in that: The walking mechanism (400) includes a drive motor (401), a steering motor (402) and a steering wheel (403). The drive motor (401) is coaxially connected to the steering wheel (403). The steering motor (402) is connected to the steering wheel (403) through a steering transmission mechanism, driving the steering wheel (403) to rotate around the vertical axis.

8. The chassis according to claim 1, characterized in that: The caster wheel assembly (300) is mounted on the bottom of the chassis body (100) via a second floating connection mechanism. The second floating connection mechanism includes a second elastic element, a second bearing seat, and a second bearing. The second elastic element restricts the horizontal displacement of the caster wheel assembly (300) and allows it to float vertically.

9. The chassis according to claim 1, characterized in that: The chassis body (100) has a mounting hole with internal threads at its bottom. The universal wheel assembly (300) includes a screw and a universal wheel fixed to the bottom end of the screw. The external thread of the screw meshes with the internal thread of the mounting hole. The installation height of the universal wheel can be changed by rotating the screw. Alternatively, the universal wheel assembly (300) includes a lifting seat, a support seat, a bevel gear set, and a rotating rod. A threaded rod is provided through the top of the lifting seat. The top end of the threaded rod meshes with the vertical output end of the bevel gear set. The horizontal input shaft of the bevel gear set extends to the outside of the lifting seat to form a rotating rod. The rotating rod drives the threaded rod to rotate, thereby causing the support seat and the universal wheel at the bottom of the support seat to move vertically.

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